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Adaptive Torque Control of a Robotic Manipulator
(2016-09-02)
In this thesis, I present the theory and application of enabling intuitive control and physical interaction between a human operator and a mobile manipulator. To do so, the model of the manipulator was estimated for its ...
Dynamics and Control of Jumping Legged Robot
(2018-08-13)
This research aims to studying the agility of legged robots particularly their interactions with the ground and achieve a jumping motion by using an operational space controller.
Methods were developed to first formulate ...
Real-time Minimum Jerk Optimal Trajectory Synthesis and Tracking for Ground Vehicle Applications
(2018-01-08)
Research on wheeled mobile robots has been an active research field for several decades with focus on the problems of stability, maneuverability and control. The trajectory generation for wheeled mobile robots is usually ...
TRAJECTORY TRACKING CONTROL OF A QUADROTOR DURING COOPERATIVE OPERATION BETWEEN UAV AND UGV
(2016-12-20)
In recent times, there has been an increase in the use and application of unmanned aerial vehicles (UAVs). UAVs are used for various operations ranging from military applications to civilian purposes such as traffic ...
A TWO STAGE EVENT BASED DATA DRIVEN CONTROLLER FOR IMPROVED GRASPING OF AN ARTIFICIAL HAND
(2019-07-09)
The human hand is one of the greatest (if not the greatest) tool known to mankind for grasping objects. So much so, that researchers have been investigating the development of artificial biomimetic hands in an effort to ...
Hardware in the Loop Test Stand for Battery Management System Validation in Shipboard Controls
(2023-08-24)
**Please note that the full text is embargoed until 8/1/2024** ABSTRACT: Traditionally, large-scale power systems have relied on power generation always exceeding the total load demand. Though this is most often the case, ...